@@ 17,7 17,7 @@ 
 
 
 -module(alg_kalman).
--export([run2/1]).
+-export([run/0]).
 
 % Ok to make life simpler for expository purposes we're just gonna use a
 % 1D position model

          
@@ 78,34 78,60 @@ predict(EstimatedState, Dt) ->
     Vx2 = Vx + Ax * Dt,
     #state { x = X2, vx = Vx2 }.
 
-measure() ->
-    {#state { x = 1.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }}.
-
-run(N, State, Err, MeasurementState, MeasurementErr) ->
-    Dt = 1,
-    if
-        N == 0 -> {};
-        true ->
-            PredictedState = predict(State, Dt),
-            PredictedErr = covariance_extrapolation(Err, Dt),
-            io:format("Iter ~p, State: ~p Err: ~p~n", [N, PredictedState, PredictedErr]),
+measurements() ->
+    States = [{#state { x = 0.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 1.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 2.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 3.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 4.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 5.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 6.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 7.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 8.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 9.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }},
+     {#state { x = 10.0, vx = 1.0}, #uncertainty { err_x = 0.1, err_vx = 0.1 }}
+    ],
+    Err = 0.1,
+    F = fun({S, E}) ->
+                {#state{
+                   x = S#state.x + rand:uniform() * Err,
+                   vx = S#state.vx + rand:uniform() * Err
+                   },
+                 #uncertainty {
+                    err_x = E#uncertainty.err_x + rand:uniform() * Err,
+                    err_vx = E#uncertainty.err_vx + rand:uniform() * Err
+                   }}
+        end,
+    lists:map(F, States).
 
-            GainX = kalman_gain(PredictedErr#uncertainty.err_x, MeasurementErr#uncertainty.err_x),
-            GainVX = kalman_gain(PredictedErr#uncertainty.err_vx, MeasurementErr#uncertainty.err_vx),
+%% Run one step of the filter.
+%% Takes a state and error state, plus a measurement,
+%% and returns new ones.
+step(State, Err, {MeasurementState, MeasurementErr}) ->
+    Dt = 1.0,
+    PredictedState = predict(State, Dt),
+    PredictedErr = covariance_extrapolation(Err, Dt),
 
-            EstimatedState = update(PredictedState, GainX, GainVX, MeasurementState),
-            EstimatedErrX = covariance_update(PredictedErr#uncertainty.err_x, Dt),
-            EstimatedErrVX = covariance_update(PredictedErr#uncertainty.err_vx, Dt),
-            EstimatedErr = #uncertainty { err_x = EstimatedErrX, err_vx = EstimatedErrVX },
+    GainX = kalman_gain(PredictedErr#uncertainty.err_x, MeasurementErr#uncertainty.err_x),
+    GainVX = kalman_gain(PredictedErr#uncertainty.err_vx, MeasurementErr#uncertainty.err_vx),
 
-            {NewMeasurement, NewMeasurementErr} = measure(),
-            run(N-1, EstimatedState, EstimatedErr, NewMeasurement, NewMeasurementErr)
-    end.
+    EstimatedState = update(PredictedState, GainX, GainVX, MeasurementState),
+    EstimatedErrX = covariance_update(PredictedErr#uncertainty.err_x, Dt),
+    EstimatedErrVX = covariance_update(PredictedErr#uncertainty.err_vx, Dt),
+    EstimatedErr = #uncertainty { err_x = EstimatedErrX, err_vx = EstimatedErrVX },
+    {EstimatedState, EstimatedErr}.
 
 
-run2(N) ->
-    InitialState = #state { x = 0.0, vx = 0.5 },
+run() ->
+    InitialState = #state { x = 0.0, vx = 0.0 },
     InitialErr = #uncertainty { err_x = 0.1, err_vx = 0.1 },
-    {NewMeasurement, NewMeasurementErr} = measure(),
+    Measurements = measurements(),
+    run2(InitialState, InitialErr, Measurements).
+
 
-    run(N, InitialState, InitialErr, NewMeasurement, NewMeasurementErr).
+run2(State, Err, []) ->
+    {State, Err};
+run2(State, Err, [Measurement|Rest]) ->
+    io:format("Measurement: ~p State: ~p Err: ~p~n", [Measurement, State, Err]),
+    {NewState, NewErr} = step(State, Err, Measurement),
+    run2(NewState, NewErr, Rest).